A singular perturbation approach to control of lightweight flexible manipulators
International Journal of Robotics Research
Singular Perturbation Methods in Control: Analysis and Design
Singular Perturbation Methods in Control: Analysis and Design
Robotic manipulation with flexible link fingers
Robotic manipulation with flexible link fingers
Real-time dynamic trajectory optimization with application to free-flying space robots
Real-time dynamic trajectory optimization with application to free-flying space robots
The particle swarm - explosion, stability, and convergence in amultidimensional complex space
IEEE Transactions on Evolutionary Computation
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In this paper, an optimal trajectory planning method with vibration reduction for a dual-arm space robot with front flexible links is proposed using Particle Swarm Optimization (PSO), where the motion trajectory is described by the use of a fourth-order quasi-uniform B-spline with control points as parameters to be optimized. Based on the singularly perturbed description of a flexible robot dynamics, a performance index for trajectory planning with vibration reduction is proposed and is implemented by an improved PSO algorithm. Finally, some numerical examples are employed to demonstrate the effectiveness of the proposed approach.